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Tabletop Object Perception

Overview

This page describes the sensor data processing tools that allow complete usage of the object manipulation functionality contained in object_manipulation and pr2_object_manipulation. However, it is not a development goal in itself. Other (better) implementations of sensor processing for manipulation are under active development. This framework is meant to allow using the manipulation functionality until other alternatives mature.

Running the Manipulation Pipeline

To launch the manipulation pipeline, complete with the sensor processing provided here, and execute pickup and place tasks using the PR2 robot, tutorials and launch files are provided in pr2_tabletop_manipulation_apps.